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The paper describes results on two components of a research program focusedon motion-based communication mediated by the dynamics of a control system.Specifically we are interested in how mobile agents engaged in a sharedactivity such as dance can use motion as a medium for transmitting certaintypes of messages. The first part of the paper adopts the terminology of motiondescription languages and deconstructs an elementary form of the well-knownpopular dance, Salsa, in terms of four motion primitives (dance steps). Severalnotions of dance complexity are introduced. We describe an experiment in whichten performances by an actual pair of dancers are evaluated by judges and thencompared in terms of proposed complexity metrics. An energy metric is alsodefined. Values of this metric are obtained by summing the lengths of motionsegments executed by wheeled robots replicating the movements of the humandancers in each of the ten dance performances. Of all the metrics that areconsidered in this experiment, energy is the most closely correlated with thehuman judges' assessments of performance quality.  The second part of the paper poses a general class of dual objective motioncontrol problems in which a primary objective (artistic execution of a dancestep or efficient movement toward a specified terminal state) is combined witha communication objective. Solutions of varying degrees of explicitness can begiven in several classes of problems of communicating through the dynamics offinite dimensional linear control systems. In this setting it is shown that thecost of adding a communication component to motions that steer a system betweenprescribed pairs of states is independent of those states. At the same time,the optimal encoding problem itself is shown to be a problem of packinggeometric objects, and it remains open.

The Control Theory of Motion-Based Communication: Problems in Teaching Robots to Dance